Motor speed regulating system



March 1953 R. 1.. HUPP 2,632,874

MOTOR SPEED REGULATING SYSTEM! Filed Jan. 21, 1950 Inventor: Raymond LH upp,

b W His/Attorney Patented Mar. 24, 1953 2,632,874 oron sr En REGULATING SYSTEM Raymond L. Hupp, Fort Wayne, Ind, assignor to General Electric Company, a corporation of New York Application January 21, 1950, Serial No. 139,939

Clain s. (Cl. 3l8=- 1 42 h s vention ela es t di ect. c rr n m tor.

sp ed re ulatin s ste s more a tio er vi to a s em of e W rd-Le ard ype n. ic means are provided ior maintaining a predeter mined motor sp e indepen n o the o d an ne. vo a I a a able volta or Ward-Leo rd, type mo o c ntr l s s mi a d rect cu r n mot is upp ie cu en rom a se arat ge r r os output ol -a s con r e by e d v i t o s s o c ntr l he s e of th m t r In the i sn i u a stem, it is es ab no y o pro e. ans f r. a idly ar n t e mo speed, butalso means for automatically mainam n a so eo sd s eed re a d e o a i ions i t e load or. the ne olt of th motes driving the generator. This objective can be re r a ly a m lished b s pp y he se erator field winding with rectified current from ne or mo e elec onic d h rg tu es of the hryatron yp Th ene s ation suppli to the generator field by these electrenic discharge devices can be varied by controlling the bias on the devices in accordance with the differential between the actual speed of the motor the desired speed.

An object of this invention is to provide an improved speed regulating system for direct current n otors. 4

A th r obi of his n en n is t provide an improved direct current motor speed regu s n n a W d-L o ty s s e A f the o e t of is. inve on s to p vide improved speed regulation for a motor in a ward hecnard syste n wherein the motor speed can be readily adjusted and automatically rnain ains a the es red alue ndep nde t oa and ne l age- A still further object of this invention is to Pro ro e ele tron o s e d si otioo i' a motor in a Ward-Leonard system.

F th ob ec s n ad an es o h s ve tion vvill become apparent and the invention Will be better understood. irom the following descrip sn'isio 'ri to h a comp ny n o es and the features of novelty which characterize this invention will be pointed out With particularity in the claims annexed to and forming a part of this specification.

In accordance with this invention, there is provided a direct current motor and a direct current generator with their armatures serially o nn te s he conven ion l Wo'rsfle rd rangeinent. The generator is provided with a pgl'ii fily suit d field W Q Q arra d 1 9- n siz io by on or more ele tronic. d scha e devices. The current supplied to'the gener fi l w n in by t ese dev ces is oontroile o1;

impressing upon the control electrodes oii schar e device a b a n v ltag d ffe entia ly esp ns o a predeterm ned res s nse v lt ge corr p di o h d sired sp e ass a o a e pro or na to the e era o armature voltage hi h is, with pr o t a 9 the mot r s d Th dra i ows ma i a th is: ro e ot speed reg a in irc t Qt s i ven o Referring to the drawing, there is shown a i ec curr motor 1 ha i a rm ure 3 91 e c n ent o y rov de w th a emi tta r a d ru The mo or I s de with a separately excited field winding 5 which may be energized by a rectifier as will be here'- inaiter described. A direct current generat'qr ii o d d r furn sh ng e rg t e m r having o ar u f e con ent na was provided with a commutator and brushes '1 The motor brushes 3; and the generator brushes '5 are n c d by ine 5 ro id n eri con ect on o e m or rmat re 2 nd t enera o ur 6- A re er i it is ran e in the rc it be we th motor br she 3 a i i' the e r or r s e 1 o ro de o reversa oi e mo o ihe n rat r s epa te y o o tod by a field ex t ng windin It and s d iven by a sui able rime mo e iter nst o an alternating c ren induc ion m tor rran ed o ensrsizati by a suitable source of l eratin curr nt no shown th o h i e 12- In rder o ro id x i tion or t enera r. fiel Win ng i the r a emen now to e e crib is r v e A sformer i is provided having its primary winding [4 connected across the alternating current supply lines i2 and a secondary winding l5 arranged with its two-ends respectively connected to the anodes it and i? of electronic discharge tubes i d 1' ich a e ab y o the hvrstron type. The di c ar ub s to a d i9 r also respectively provided with heaters and connected to asecondary wind-11 822 Q transformer l3, cathodes 23 and 26, control electrodes 25 and 2t, and shield electrodes' 2? audit/"Que side of the generator field Winding ii; is connected tothe center tap 29 of the secondary winding s of thetransfo'rmer s and the other side'is connected to the cathodes 23 and 2 providing a conventional full waverectifiercircuit'for providing rectified directcurrent to megen ator field winding it]. The discharge tubes is and I9 are of the type in which unidirectional discharge current flows upon energization of the control electrodes and 25 to a predetermined degree when the anodes l3 and H are positive with reference to the cathodes 23 and 25. This flow of unidirectional discharge current continues until the instantaneous potential of the anodes becomes approximately the same as that of the cathodes. In this type of tube, the value of control electrode potential which causes the tube to become conductive depends on the phase angle in the positive half cycle on the anode. It will thus be readily apparent that the excitation of the generator field winding It may be controlled by controlling the voltage impressed on the control electrodes 25 and 26.

In order to provide for varying the excitation of the generator field winding iii, a transformer is provided having its primary 3i connected across the alternating current supply lines I2 and the two ends of its secondary 32 respectively connected to the control electrodes 25 and 26 of the discharge tubes [8 and 19. Thus, there is impressed upon the control electrodes 25 and 23 an alternating current voltage which will effect conduction of the tubes at the point where the instantaneous impressed voltage reaches the predetermined critical control electrode voltage above which conduction takes place. As pointed out above, the control electrode voltage at which the tubes will become conductive depends upon the phase angle in the positive half cycle on the anode. In order to shift the phase relationship of the alternating current voltage impressed on the electrodes 25 and 26 with respect to the alternating current voltage on the supply lines l2 and between the cathodes and anodes 23, I6 and 2%, H respectively, and thus to vary the point at which the tubes l8 and i9 become conductive, a phase shift network comprising a capacitor 33 and a variable resistor 34 is arranged in circuit with the primary 3! of the transformer 30. As the system has been hereinbefore described, an alternating current voltage is impressed on the control electrodes 25 and 23 having a predetermined phase relationship with the alternating current voltage on the anodes I6 and H to effect cathode-anode conduction at a predetermined phase angle point in the positive half cycle of the voltage wave on the anodes determined by adjustment of the variable resistor 34.

It will now be readily apparent that if a direct current voltage is superposed on the alternating current voltage impressed on the control electrodes 25 and 26, the phase angle point at which the tubes become conductive will be varied depending upon the magnitude of' the superposed voltage or bias. In accordance with this invention, therefore, in order to control the energization of the generator field winding it to main tain the speed of the motor I constant, a voltage which is the differential of a predetermined voltage corresponding to the desired speed and a voltage dependent upon the motor speed is superposed on the alternating current voltage impressed upon the control electrodes 25 and 26. To accomplish this, a potentiometer 35 is connected across lines 36 and 3'! which supply direct current to the motor field winding i. The motor field winding 4 is shown here as being uXCitQd by a full wave rectifier 38 comprising a full wave rectifier tube 39 having its anodes 4B and ii respectively connected to the two en s. f a

age determined by the setting of the poten tiometer 35 is superposed on the alternating current voltage impressed on the control electrodes 25 and 26. The potentiometer 35 is the speed selection device in this system and the voltage picked off by the movable contact d6 corresponds to the predetermined desired speed. A resistor 48 is arranged in series with the line 36 intermediate the motor field .winding l and the potentiometer 35 to provide a negative bias so that the tubes i8 and [9 will not conduct current when potentiometer 35 is set at'zero.

In order to supply a bias voltage proportional to the motor speed, a resistor 4c is arranged in series with one of the lines 23 interconnecting the generator armature and the motor armature 2 to provide compensation for the I. R. drop in the motor armature. Thus, for a given speed setting of potentiometer 35, the motor armature voltage will be increased or decreased as the I. R. dropof resistor d9 is increased or decreased. Another potentiometer 58 is arranged across the lines 8 between the resistor t9 and the generator brushes F. The movable contact 5! of the potentiometer 563 is connected to the cathodes 23 and 24 of the tubes l8 and i3. It is well known that the voltage across a direct current motor armature, after compensation for I. R. drop, is proportional to the speed. Therefore, the voltage picked off by the contact 5i of the potentiometer 5E] is proportional to the generator output voltage and, since the I. R. drop in the motor armature 2 is compensated by the resistor 43, it is therefore proportional to the motor speed. As will be hereinafter described, the movable contact 55 of the potentiometer 56 provides adjustment so that the excitation provided to the generator field winding it will produce a generator voltage sufficient to maintain the motor I at the speed selected by the potentiometer 35. In order to provide a complete circuit, a line 52 interconnects the end of the resistor 48 adjacent the motor field winding 5, and the end of the resistor (it remote from its connection with the potentiometer 5i]. I

Tracing the circuit now provided between the cathodes 23 and 2t and the control electrodes 25 and 26, there is found the potentiometer til, the resistor 49, the line 52, the resistor 48, and the potentiometer 35. It will now be readily apparent that the effective voltage between the cathodes 23 and 24 and the control electrodes 25 and 26 is the differential between the pre--' determined voltage selected by the potentiometer 35 which corresponds to the predetermined and, 24.1.. An lectrol tic capac tor 55 acts as a; filterso: the.- predetermined direct vol-t a e superpos d on he. trahsiorm r 3.8- The enerator field i is connected. so that th B633" tir lin 8. connects to r s stor 49. Thi pr duces voltag s: of the sam polarity across n0 tentiometers 5.0 and. 3.5.

In operation. after a. pred t min d, desired speed has, been selected byadjus ment of the movable contact .6 oi the potent ometer. 3.5., at. the. instant: of; startin of the dri in motor H and g n rator there. w ll e n olta e acro he lines 8 and, herefore. no direct curr nt vol age impressed. n he cathodes 3 2.4vv oi the tubes 8 an 18. The effective cathode to control electrode voltage. t ereiore. is t entir predetermi ed voltage sele t d by the po entio eter 35. plusth insta taneous. alue, f; the alt rnatin current volta e impress d on. the ontr l lectrodes bythe transiormer 39.- Under this con-- dition the tubes will fire at the be inning of the positive half cycl 1 voltage on the anodes l nd. H p duc ng maximum u ent how in. th nerat r field win n l As the en a ed oltage c oss he lines 8 increases, accom nie y a pr p rt onal ncr se n motor peed, the o e s lected by the poten ometer 5 i creases allowin t e vo tage imp essed. on. he ca hodes 23 and. 2 t reduce th f ective catho e t control electrode voltage. This, decrease in the diflerena tial between the predetermined voltage and the speed resp nsive voltage. which is mpr ssed oh the co tr l electrodes re r s t fi ingo nt of the tubes so that they ar c nduc e d ri g only a part of the positive half cycle of anode, volta e. This produces a reduction in the excitation or; the generator field Winding l ii and an accompanying reduction in the rate. of increase of the generator voltage across the lines 8. It will be readily ap, parent that apoint of stability will be reached where the motor speed reaches th preaselected speed and at this point the voltage difierential on the. control electrodes will be only sufiicient to roduce current in the generator field winding ID to maintain the motor speed at, the predetermined level. After the predetermined motor speed has. been reached, a tendency for the motor to decrease speed, for instance, due to an increase in load, is accompanied by a decrease in thg volt-. age across th lines 8 and an incr ase in the. lt age differential on the control electrodes 25 and 26. This rodu es an in rease n t c rr n n the generator field winding to restore the speed of the motor I to its predetermined value. Con verselv an n r a in he spe d o t e mot r f r instance, as a result oi an. increase in the line v l a e of the driving m or 1!, is accompani d y an increase in the oltage on the lines. 8 and a r du t on in the voltage diff rent al he com trol electrodes 25 and 25. This produces a reduction in the current flow in the generator field H) and an accompanyin reduction in the enerat voltage to reduce the motor; speed to the desired level.

It will be readily apparent that the speed regulation system, described above is superior to a sysa em wherein he speed control is applied eo iv t h m tor since the current requir ments of the generator field winding [9 are much less than the armature current required for the motor I. Furthermore, the speed regulating potentiometer 5 need only he of a minimum Wattage ra in s nce no appreciable current is supplied t r b AS it is pointed out above, this circuit permits ready adjustment of the motor speed with rapid V, said cathode oi 5a.,

6. response and a itoinatio maintenance or th de= ired creed indeoen ientofs lo line. voltage- Whiie, I have illustrated and. de cri ed a. carti uiar em me 1 oi his inven 1. medifioa v tions their. a lied in the esir t h understo d. er f re. ha his; nven ion s not to he: lmit d o th p rt cua ransement dis osed, and intend n t ap nded claims o o er a m di'iioations wh ch. do. not depar from... he r s ope ofm vention.

I cla m as new and desire to e ur by tters P t nt oi he U ited S ates s:

L a ire t cur ent motor Speed. re u at o srst mi ire c rre t mo or; h n an a mae hire, a direct c rrent generator or su pl in onercr to said moto havin a ure seria ly onn cted; with aid motor rm or and havin a sonar e r x ited fie d W ndin an. alte natin c irr nt sourc an e ectro ic di cha ge d e havingano a. a ca od and a cont ol l trode, s d devic being of th tyn w io c m conductive w en a redetermined voltage is impressed: said co ol lectrode, said anode and device being connected in circui with a d. al erna in curre s ur to aid en rator ield wind n t r supplyi r fiod current; thereto, and means for impressing a voltage on said control electrode difiercntialiy responsive to a predetermined voltage correspond? ing to. a predetermined desired speed and a volt: age, dependent on the motor speed whereby the energization of said generator field is automati= call-y varied to maintain said predetermined speed.

2. In a direct current motor speed regulation system, a direct current motor having an armature, a direct current generator for supplying energy to said motor having an armature serials ly connected with said motor armature and having a separately excited field winding, an alter- Hating current source, an electronic discharge device having an anode, a cathode and a control electrode, said device being of the type which becomes conductive when a predetermined voltage is impressed on said control electrode, said an,- ode and said cathode of said device being connected in circuit with said alternating current source to said generator field winding; for supplying rectified current thereto, and means for impressing a voltage on said control electrode difierentially responsive to a predetermined voltage corresponding to a predetermined desired speed and a voltage proportional to the voltage across said motor armature whereby the energization of said generator field winding is automatically varied to maintain said predetermined speed.

'3. In a direct current motor speed regulation system, a direct currentmotor having an armature, a direct current generator forsupplying energy to said motor having an armature serially connected with said motor armature and having a separately excited fi ld Winding, an alternating current source, an electronic dis. charge device having an anode, a cathode and a control electrode, said device being of the type. which becomes Conductive when a prede: termined voltage is impressed on said control electrode, said anode and said cathode of said device being connected in circuit with said al.- ternating current source to said generator field winding for supplying rectified current thereto, means for impressin an alternating current voltage on said control electrode having a pre-. determined phase relationship with the voltage across'sa id aneaesna esmede for effecting cathode ano'de' conduction, andmean's diiierentially responsive to a predetermined direct current voltage corresponding to a predetermined desired speed and a direct current voltage dependent on the speed of said motor for biasing said control electrode to vary the point at which said discharge device becomes conductive whereby the energization of said generator field winding is automatically'vari'ed to maintain said predeten mined speed.

4. Ina direct current motor speed regulation system, a direct current motor having an armature, a direct current generator for supplying energy to said motor having an armature se rially connected with said motor armature and having a separately excited field winding, an alternating current source, an electronic discharge'devicehaving an anode, a cathode and a control electrode, said device being of the type which becomes conductive when a predetermined voltage is impressed on said, control electrode, said anode and said cathode-of said device being connected in circuit with said alternating current source to said generator field Winding for supplying rectified current thereto, means for impressing an alternating current vol age on said control electrode having a pr'edetermined phase relationship "with the voltage across said anodeand cathode. for effecting cathodeanode conduction, and means differentially responsive to a predetermined direct current voltage corresponding to a predetermined desired speed and a direct current voltage proportional to the voltage across said motor armature for biasing said control electrode to vary the point at which said discharge device becomes con-1 ductive whereby the energization of said generator field winding is automatically varied to maintain said predetermined speed. J

5. .In a direct current motor speed regulation system, a direct current motor having an armature, a direct current generator for supplying energy to said motor having an armature serially connected with said motor armature and having a separately excited field winding, an alternating current source-an electronic discharge device having an anode, a cathode and a control electrode, said device being of the type which becomes conductive when a predetermined voltage is impressed on said control electrode, said'anode and said cathode of said de vice being connected in circuit with said alterhating current source to said generator field winding for supplying rectified current thereto, means for impressing an alternating current voltage on said control electrode having a predetermined phase relationship with. the volt age across said anode and cathode for effecting a cathode-anode conduction, means for shifting said phase relationship, and means differentially responsive to a predetermined direct current voltage corresponding to a predetermined desired speed and a directcurrent voltage proportional to the voltage across 1 said motor armature for biasing said control "electrode to vary the point at which said'discharge device becomes conductive whereby the energization of said generator field winding is automatically varied to maintain said predetermined speed.

6. In a direct current motor speed regulation system, a direct current motor having an armature, a direct current generator for supplying energy to said motor having an armature serially"conriected "wlth said motor arrriature and having a separately excited field winding, an alternating current source, an electronic discharge device having an anode, a cathode and a control electrode, said device being of the type which becomes conductive when a predetermined voltage is impressed on said control electrode, said anode and said cathode of said device being connected in circuit with said alter nating current source to said generator field Winding for supplying rectified current thereto; means for impressing an alternating current voltage on said control electrode for a prede-' termined phase relationship with the voltage across said anode and cathode for effecting a cathode-anode conduction, speed regulating means for superposing a predetermined direct current voltage corresponding to a predetermined desired speed on said alternating current voltage impressed on said control electrode, and means for impressing a direct current voltage dependent on the speed of said motor on said cathode so that said control electrode is biased by a voltage which is the differential bet-ween saidpredetermined voltage and said speed dependent voltage whereby the point at which said discharge device becomes conductive is varied so that the energization of the said generator field winding is automatically varied 'to' maintain said predetermined speed. '7. In a direct current motor speed regulation system, a direct current motor having an armature, a direct current generator for supplying energy to said motor having an armature serially connected with said motor armature and having a separately excited field windingjan alternating current source, an electronic discharge device having an anode, a cathode and a control electrode, said anode and said cathode of said device being connected in circuit with said alternating current source to said generator field wind' ing for supplying rectified current thereto, means for impressing an alternating current voltage on said control electrode having predetermined phase relationship with the voltage across said anode and cathode for effecting cathode-anode conduction, speed regulating means for supere posing a predetermined direct current voltage corresponding to a predetermined desired speed on the alternating'current voltage impressed on said control electrode, and means for impressing a direct current voltage proportional to the voltage across said motor armature on said cathode so that said control electrode is biased by a voltage'which is the differential of the said predetermined'voltage and said voltage proportional to said motor armature voltage whereby the point at which said device becomes conductive is varied so that the energization of said generator field winding is automatically varied to maintain said predetermined speed. 8. In a direct current speed regulation system, a direct current motor having an armature and a separately excited field Winding, a source of direct. current for'energizing said motor field winding, a direct current generator for supplying energy to said motor having an armature serially'connected with said motor armature and having separately excited field winding, a source of alternating current, an electronic discharge device having an anode,a cathode, and a control electrode, said discharge device being of the type which becomes conductive whena predetermined voltage is impressed on said control electrode, said anode and said cathode being connected in a circuit with said alternating current source to said generator field winding for supplying rectifled current thereto, means for impressing an alternating current voltage on said control electrode having predetermined phase relationship with the voltage across said anode and cathode for effecting cathode-anode conduction, a speed regulating potentiometer connected across said motor field winding for selecting a predetermined direct current voltage corresponding to a predetermined desired speed, said potentiometer being arranged in circuit with said impressing means whereby said predetermined voltage is superposed on the alternating current voltage impressed on said control electrode, and a potentiometer connected across said generator armature for selecting a voltage proportional to said motor armature voltage, said potentiometer being arranged in circuit with said cathode for impressing said voltage proportional to said generator armature voltage on said cathode so that said control electrode is biased by a voltage which is the differential of said predetermined voltage and said voltage proportional to said motor armature voltage whereby the point at which said device becomes conductive is varied so that the energization of said generator field winding is automatically varied to maintain said predetermined speed.

9. In a direct current motor speed regulation system, a direct current motor having an armature, a direct current generator for supplying energy to said motor having an armature serially connected with said motor armature and having a separately excited field winding, an alternating current source, an electronic discharge device having an anode, a cathode and a control electrode, said device being of the type which becomes conductive when a predetermined voltage is impressed on said control electrode, said anode and said cathode of said device being connected in circuit with said alternating current source to said generator field winding for supplying rectifled current thereto, means for impressing an alternating current voltage on said control electrode having a predetermined phase relationship with the alternating current voltage across said anode and cathode for effecting a cathode-anode conduction, means for compensating for I. R. drop in said motor armature, speed regulating means for superposing a predetermined direct current voltage corresponding to a predetermined desired speed on said alternating current voltage impressed on said control electrode, and means for impressing a direct current voltage proportional to the voltage across said generator armature remote from said compensating means on said cathode so that said control electrode is biased by a voltage which is the differential of said predetermined voltage and said voltage proportional to said generator armature voltage whereby the point at which said discharge device becomes conductive is varied so that the energization of said generator field winding is automatically varied to maintain said predetermined speed.

RAYMOND L. HUPP.

REFERENCES CITED The following references are of record in the file of this patent:

UNITED STATES PATENTS Number Name Date 2,084,206 La Roque June 15, 1937 2,119,715 Miner June 7, 1938 2,121,588 Eames June 21, 1938 2,237,015 Stratton Apr. 1, 1941 2,389,367 King Nov. 20, 1945 2,508,179 Lund et al May 16, 1950 

